#include <pcl/segmentation/unary_classifier.h>

Collaboration diagram for pcl::UnaryClassifier< PointT >:

Public Member Functions
	UnaryClassifier ()
	Constructor that sets default values for member variables.
	~UnaryClassifier ()
	This destructor destroys the cloud...
void	setInputCloud (typename pcl::PointCloud< PointT >::Ptr input_cloud)
	This method sets the input cloud.
void	train (pcl::PointCloud< pcl::FPFHSignature33 >::Ptr &output)
void	trainWithLabel (std::vector< pcl::PointCloud< pcl::FPFHSignature33 >, Eigen::aligned_allocator< pcl::PointCloud< pcl::FPFHSignature33 > > > &output)
void	segment (pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &out)
void	queryFeatureDistances (std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &trained_features, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr query_features, pcl::Indices &indi, std::vector< float > &dist)
void	assignLabels (pcl::Indices &indi, std::vector< float > &dist, int n_feature_means, float feature_threshold, pcl::PointCloud< pcl::PointXYZRGBL >::Ptr out)
void	setClusterSize (unsigned int k)
void	setNormalRadiusSearch (float param)
void	setFPFHRadiusSearch (float param)
void	setLabelField (bool l)
void	setTrainedFeatures (std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &features)
void	setFeatureThreshold (float threshold)

Protected Member Functions
void	convertCloud (typename pcl::PointCloud< PointT >::Ptr in, pcl::PointCloud< pcl::PointXYZ >::Ptr out)
void	convertCloud (typename pcl::PointCloud< PointT >::Ptr in, pcl::PointCloud< pcl::PointXYZRGBL >::Ptr out)
void	findClusters (typename pcl::PointCloud< PointT >::Ptr in, std::vector< int > &cluster_numbers)
void	getCloudWithLabel (typename pcl::PointCloud< PointT >::Ptr in, pcl::PointCloud< pcl::PointXYZ >::Ptr out, int label_num)
void	computeFPFH (pcl::PointCloud< pcl::PointXYZ >::Ptr in, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr out, float normal_radius_search, float fpfh_radius_search)
void	kmeansClustering (pcl::PointCloud< pcl::FPFHSignature33 >::Ptr in, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr out, int k)

Protected Attributes
pcl::PointCloud< PointT >::Ptr	input_cloud_ {new pcl::PointCloud<PointT>}
	Contains the input cloud.
bool	label_field_ {false}
unsigned int	cluster_size_ {0}
float	normal_radius_search_ {0.01f}
float	fpfh_radius_search_ {0.05f}
float	feature_threshold_ {5.0}
std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr >	trained_features_ {}

Detailed Description

template<typename PointT>
class pcl::UnaryClassifier< PointT >

Definition at line 57 of file unary_classifier.h.

Constructor & Destructor Documentation

◆ UnaryClassifier()

template<typename PointT>

pcl::UnaryClassifier< PointT >::UnaryClassifier ( )

default

Constructor that sets default values for member variables.

◆ ~UnaryClassifier()

template<typename PointT>

pcl::UnaryClassifier< PointT >::~UnaryClassifier ( )

default

This destructor destroys the cloud...

References assignLabels(), queryFeatureDistances(), segment(), setInputCloud(), train(), and trainWithLabel().

Member Function Documentation

◆ assignLabels()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::assignLabels	(	pcl::Indices &	indi,
		std::vector< float > &	dist,
		int	n_feature_means,
		float	feature_threshold,
		pcl::PointCloud< pcl::PointXYZRGBL >::Ptr	out )

Definition at line 320 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::size().

Referenced by segment(), and ~UnaryClassifier().

◆ computeFPFH()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::computeFPFH	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	in,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	out,
		float	normal_radius_search,
		float	fpfh_radius_search )

protected

Definition at line 195 of file unary_classifier.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::PCLBase< PointT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), and pcl::Feature< PointInT, PointOutT >::setSearchMethod().

Referenced by segment(), train(), and trainWithLabel().

◆ convertCloud() [1/2]

template<typename PointT>

void pcl::UnaryClassifier< PointT >::convertCloud	(	typename pcl::PointCloud< PointT >::Ptr	in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	out )

protected

Definition at line 79 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by segment(), and train().

◆ convertCloud() [2/2]

template<typename PointT>

void pcl::UnaryClassifier< PointT >::convertCloud	(	typename pcl::PointCloud< PointT >::Ptr	in,
		pcl::PointCloud< pcl::PointXYZRGBL >::Ptr	out )

protected

Definition at line 100 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::_PointXYZRGBL::label, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ findClusters()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::findClusters	(	typename pcl::PointCloud< PointT >::Ptr	in,
		std::vector< int > &	cluster_numbers )

protected

Definition at line 127 of file unary_classifier.hpp.

References pcl::getFieldIndex().

Referenced by trainWithLabel().

◆ getCloudWithLabel()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::getCloudWithLabel	(	typename pcl::PointCloud< PointT >::Ptr	in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	out,
		int	label_num )

protected

Definition at line 160 of file unary_classifier.hpp.

References pcl::getFieldIndex(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by trainWithLabel().

◆ kmeansClustering()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::kmeansClustering	(	pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	in,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	out,
		int	k )

protected

Definition at line 224 of file unary_classifier.hpp.

References pcl::Kmeans::addDataPoint(), pcl::Kmeans::get_centroids(), pcl::PointCloud< PointT >::height, pcl::FPFHSignature33::histogram, pcl::PointCloud< PointT >::is_dense, pcl::Kmeans::kMeans(), pcl::PointCloud< PointT >::points, pcl::Kmeans::setClusterSize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by train(), and trainWithLabel().

◆ queryFeatureDistances()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::queryFeatureDistances	(	std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > &	trained_features,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	query_features,
		pcl::Indices &	indi,
		std::vector< float > &	dist )

Definition at line 263 of file unary_classifier.hpp.

References pcl::PointCloud< PointT >::size().

Referenced by segment(), and ~UnaryClassifier().

◆ segment()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::segment ( pcl::PointCloud< pcl::PointXYZRGBL >::Ptr & out )

Definition at line 395 of file unary_classifier.hpp.

References assignLabels(), computeFPFH(), convertCloud(), feature_threshold_, fpfh_radius_search_, input_cloud_, normal_radius_search_, queryFeatureDistances(), and trained_features_.

Referenced by ~UnaryClassifier().

◆ setClusterSize()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setClusterSize ( unsigned int k )

inline

Definition at line 98 of file unary_classifier.h.

References cluster_size_.

◆ setFeatureThreshold()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setFeatureThreshold ( float threshold )

inline

Definition at line 113 of file unary_classifier.h.

References feature_threshold_.

◆ setFPFHRadiusSearch()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setFPFHRadiusSearch ( float param )

inline

Definition at line 104 of file unary_classifier.h.

References fpfh_radius_search_.

◆ setInputCloud()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setInputCloud ( typename pcl::PointCloud< PointT >::Ptr input_cloud )

This method sets the input cloud.

Parameters

[in] input_cloud input point cloud

Definition at line 63 of file unary_classifier.hpp.

References pcl::getFieldIndex(), input_cloud_, and label_field_.

Referenced by ~UnaryClassifier().

◆ setLabelField()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setLabelField ( bool l )

inline

Definition at line 107 of file unary_classifier.h.

References label_field_.

◆ setNormalRadiusSearch()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setNormalRadiusSearch ( float param )

inline

Definition at line 101 of file unary_classifier.h.

References normal_radius_search_.

◆ setTrainedFeatures()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::setTrainedFeatures ( std::vector< pcl::PointCloud< pcl::FPFHSignature33 >::Ptr > & features )

inline

Definition at line 110 of file unary_classifier.h.

References trained_features_.

◆ train()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::train ( pcl::PointCloud< pcl::FPFHSignature33 >::Ptr & output )

Definition at line 346 of file unary_classifier.hpp.

References cluster_size_, computeFPFH(), convertCloud(), fpfh_radius_search_, input_cloud_, kmeansClustering(), and normal_radius_search_.

Referenced by ~UnaryClassifier().

◆ trainWithLabel()

template<typename PointT>

void pcl::UnaryClassifier< PointT >::trainWithLabel ( std::vector< pcl::PointCloud< pcl::FPFHSignature33 >, Eigen::aligned_allocator< pcl::PointCloud< pcl::FPFHSignature33 > > > & output )

Definition at line 364 of file unary_classifier.hpp.

References cluster_size_, computeFPFH(), findClusters(), fpfh_radius_search_, getCloudWithLabel(), input_cloud_, kmeansClustering(), and normal_radius_search_.

Referenced by ~UnaryClassifier().

Member Data Documentation

◆ cluster_size_

template<typename PointT>

unsigned int pcl::UnaryClassifier< PointT >::cluster_size_ {0}

protected

Definition at line 152 of file unary_classifier.h.

Referenced by setClusterSize(), train(), and trainWithLabel().

◆ feature_threshold_

template<typename PointT>

float pcl::UnaryClassifier< PointT >::feature_threshold_ {5.0}

protected

Definition at line 156 of file unary_classifier.h.

Referenced by segment(), and setFeatureThreshold().

◆ fpfh_radius_search_

template<typename PointT>

float pcl::UnaryClassifier< PointT >::fpfh_radius_search_ {0.05f}

protected

Definition at line 155 of file unary_classifier.h.

Referenced by segment(), setFPFHRadiusSearch(), train(), and trainWithLabel().

◆ input_cloud_

template<typename PointT>

pcl::PointCloud<PointT>::Ptr pcl::UnaryClassifier< PointT >::input_cloud_ {new pcl::PointCloud<PointT>}

protected

Contains the input cloud.

Definition at line 148 of file unary_classifier.h.

Referenced by segment(), setInputCloud(), train(), and trainWithLabel().

◆ label_field_

template<typename PointT>

bool pcl::UnaryClassifier< PointT >::label_field_ {false}

protected

Definition at line 150 of file unary_classifier.h.

Referenced by setInputCloud(), and setLabelField().

◆ normal_radius_search_

template<typename PointT>

float pcl::UnaryClassifier< PointT >::normal_radius_search_ {0.01f}

protected

Definition at line 154 of file unary_classifier.h.

Referenced by segment(), setNormalRadiusSearch(), train(), and trainWithLabel().

◆ trained_features_

template<typename PointT>

std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> pcl::UnaryClassifier< PointT >::trained_features_ {}

protected

Definition at line 159 of file unary_classifier.h.

Referenced by segment(), and setTrainedFeatures().

The documentation for this class was generated from the following files:

pcl/segmentation/unary_classifier.h
pcl/segmentation/impl/unary_classifier.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UnaryClassifier()

◆ ~UnaryClassifier()

Member Function Documentation

◆ assignLabels()

◆ computeFPFH()

◆ convertCloud() [1/2]

◆ convertCloud() [2/2]

◆ findClusters()

◆ getCloudWithLabel()

◆ kmeansClustering()

◆ queryFeatureDistances()

◆ segment()

◆ setClusterSize()

◆ setFeatureThreshold()

◆ setFPFHRadiusSearch()

◆ setInputCloud()

◆ setLabelField()

◆ setNormalRadiusSearch()

◆ setTrainedFeatures()

◆ train()

◆ trainWithLabel()

Member Data Documentation

◆ cluster_size_

◆ feature_threshold_

◆ fpfh_radius_search_

◆ input_cloud_

◆ label_field_

◆ normal_radius_search_

◆ trained_features_